Intelligent equipment for monitoring collaborative operation of multiple agricultural machines and scheduling system

Abstract

The invention relates to the field of farm scheduling operation, and discloses a multi-agricultural machinery collaborative operation monitoring intelligent device and scheduling system, and the system comprises a cloud server which is located on a comprehensive monitoring station and cooperates with an Ethernet interface output unit for transmitting a generated agricultural machinery remote gateway protocol; the gateway identification module is located on the integrated monitoring station and cooperates with the protocol sending unit to identify the generated agricultural machine remote gateway protocol. And the central processing module is located on the comprehensive monitoring station and is matched with the LoRaWAN storage unit to remotely process the multi-agricultural machine remote regulation and control instruction. Each agricultural machine end can independently submit a scheduling request through a shunting application unit, the requests are uniformly received and processed through a scheduling communication system, and through a LoRa fixed-point transmission unit and a central processing module, the system utilizes a terminal access module, the central processing module and a gateway identification module to process data and control commands in a layered manner. And the scheduling processing is smoother and the parallel processing capability is stronger.

Description

Technical Field

[0001] The present invention relates to the technical field of farm scheduling operations, and in particular to intelligent equipment and a scheduling system for monitoring the coordinated operations of multiple agricultural machines. Background Art

[0002] During critical farming seasons, the amount of farming or harvesting work done by agricultural machinery is very large and time is urgent. At this time, it is necessary to obtain and integrate the effective resources of the entire farm, complete the function of agricultural machinery dispatching and commanding in the shortest time possible, and deploy agricultural machinery to complete the harvest within the best harvesting time of crops.

[0003] Agricultural machinery scheduling mostly relies on manual operation. The agricultural machinery end needs to manually submit scheduling requests, and the center personnel then manually formulate scheduling plans according to the situation, resulting in a time-consuming and error-prone scheduling process. Communication technologies mostly rely on wired connections or short-range wireless communications (such as Wi-Fi or Bluetooth), with limited coverage and unable to meet the needs of large-scale farm environments. Data transmission is susceptible to signal interference, resulting in unstable transmission and even data loss. The lack of a unified data transmission protocol makes it difficult for different devices and systems to interconnect. The lack of a unified scheduling and management system makes scheduling coordination between different agricultural machinery difficult, prone to conflicts or waste of resources. Agricultural machinery status monitoring mostly relies on manual inspection or regular data collection, lacks real-time performance, and is difficult to detect and handle anomalies in a timely manner. The lack of trajectory prediction and conflict monitoring functions makes it easy for agricultural machinery to deviate from its trajectory or conflict on its route during operation, posing a major safety hazard. The safety of the agricultural machinery scheduling process is not guaranteed, especially when multiple people and multiple machines are working at the same time, which can easily lead to scheduling confusion or operation conflicts. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides intelligent equipment and a scheduling system for monitoring the collaborative operations of multiple agricultural machinery, which solves the problems of current agricultural machinery scheduling, such as strong dependence on manual labor, limited communication range, unstable data transmission, poor system connectivity, insufficient real-time monitoring, lack of trajectory prediction and conflict monitoring, which lead to low scheduling efficiency, great safety hazards and serious waste of resources.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent device for monitoring the coordinated operation of multiple agricultural machines, comprising:

[0006] Comprehensive monitoring station, with intelligent equipment dispatching system for monitoring the coordinated operation of multiple agricultural machinery;

[0007] The mobile agricultural machinery terminal is located on the integrated monitoring platform and is used to display independent agricultural machinery;

[0008] The positioning processing module is located on the integrated monitoring platform and cooperates with the positioning sending unit to locate and dispatch agricultural machinery;

[0009] The conflict monitoring module is located on the integrated monitoring platform and cooperates with the vehicle matching unit and the independent vehicle unit to monitor conflicts in agricultural machinery operations;

[0010] The monitoring screen assembly is located on the integrated monitoring station and is used to visualize the operating status of multiple agricultural machines;

[0011] The application service module is located on the integrated monitoring station and cooperates with the central processing unit to access the gateway for remote control of multiple agricultural machinery;

[0012] The cloud server is located on the integrated monitoring station and cooperates with the Ethernet interface output unit to transmit the generated agricultural machinery remote gateway protocol;

[0013] The gateway identification module is located on the integrated monitoring station and cooperates with the protocol sending unit to identify the generated agricultural machinery remote gateway protocol;

[0014] The central processing module is located on the integrated monitoring platform and cooperates with the LoRaWAN storage unit to process remote control commands of multiple agricultural machinery;

[0015] The terminal access module is located on the integrated monitoring platform, and cooperates with the call command issuing unit to issue remote control instructions for multiple agricultural machinery remotely.

[0016] Preferably, the monitoring screen components are distributed at the output end of the integrated monitoring station.

[0017] Preferably, the mobile agricultural machinery terminal is connected to the output port of the integrated monitoring station, the positioning processing module is connected to the output port of the mobile agricultural machinery terminal, the conflict monitoring module is connected to the output port of the positioning processing module, the application service module is connected to the output port of the integrated monitoring station, the cloud server is connected to the output port of the application service module, the gateway identification module is connected to the output port of the cloud server, the central processing module is connected to the output port of the gateway identification module, and the terminal access module is connected to the output port of the central processing module.

[0018] Preferably, the integrated monitoring station includes a shunting application receiving unit, the shunting application receiving unit is connected to the positioning processing module, the positioning processing module is connected to the central processing unit, the central processing unit is provided with a vehicle matching unit, the conflict monitoring module is connected to the vehicle matching unit, the vehicle matching unit is respectively connected to the starting point calculation unit and the end point calculation unit, the starting point calculation unit and the end point calculation unit are both connected to the shunting track confirmation unit, the shunting track confirmation unit is connected to the shunting speed confirmation unit, and the shunting speed confirmation unit is connected to the instruction sending unit.

[0019] Preferably, the mobile agricultural machinery terminal includes a shunting application unit, the shunting application unit is connected to the authority sending unit, the authority sending unit is connected to the track recording unit, the track recording unit is connected to the positioning sending unit, the instruction receiving unit is connected to the track receiving unit, the track receiving unit is connected to the route viewing unit, the route viewing unit is connected to the independent vehicle unit, the instruction receiving unit is connected to the instruction sending unit via a wireless network, and the authority sending unit is connected to the shunting application receiving unit via a wireless network.

[0020] Preferably, the positioning processing module includes a positioning receiving unit, the positioning receiving unit is connected to the positioning processing unit, the positioning processing unit is connected to the device corresponding unit, the device corresponding unit is connected to the original trajectory corresponding unit, the original trajectory corresponding unit is connected to the original trajectory sending unit, the positioning receiving unit is connected to the positioning sending unit via a wireless network, and the original trajectory sending unit is connected to a central processing unit.

[0021] Preferably, the conflict monitoring module includes a trajectory monitoring unit, the trajectory monitoring unit is electrically connected to the monitoring screen assembly, the trajectory monitoring unit is connected to the vehicle corresponding unit, the vehicle corresponding unit is connected to the trajectory prediction unit, the trajectory prediction unit is connected to the conflict monitoring unit, the route deviation warning unit is respectively connected to the route deviation warning unit and the route conflict alarm unit, the route deviation warning unit and the route conflict alarm unit are respectively connected to an independent vehicle unit via a wireless network, and the route deviation warning unit and the route conflict alarm unit are respectively electrically connected to a vehicle matching unit.

[0022] Preferably, the application service module includes a data monitoring and display unit, the input port of the data monitoring and display unit is connected to the port of the central processing unit, the output port of the data monitoring and display unit is connected to the input port of the gateway protocol generation unit via an Ethernet signal, the output port of the gateway protocol generation unit is connected to the input port of the control strategy generation unit via an Ethernet signal, and the output port of the control strategy generation unit is connected to the input port of the Ethernet interface output unit via an Ethernet signal;

[0023] The cloud server includes a transmission monitoring unit, the input port of the protocol data temporary storage unit is connected to the output port of the Ethernet interface output unit via an Ethernet signal, and the output port of the protocol data temporary storage unit is connected to the protocol sending unit via an Ethernet signal; the output port of the transmission monitoring unit is connected to the protocol data temporary storage unit, and the output port of the transmission processing unit is connected to the protocol data temporary storage unit.

[0024] Preferably, 9. the gateway identification module comprises a protocol data receiving unit, the protocol data receiving unit, the input port of the protocol data receiving unit is connected to the protocol sending unit through an Ethernet signal, the output end of the protocol data receiving unit is connected to the protocol data storage unit through an Ethernet signal, the protocol data storage unit comprises a LoRaWAN storage unit and a TCP / IP storage unit respectively, the output port of the LoRaWAN storage unit is connected to the channel allocation unit through a HUR signal, and the output port of the channel allocation unit is connected to the routing identification management unit through an Ethernet signal;

[0025] The central processing module includes a data relay unit, an input port of the data relay unit is connected to a LoRaWAN storage unit via an Ethernet signal, an output port of the data relay unit is connected to a LoRa broadcast docking unit via an Ethernet signal, an output port of the LoRa broadcast docking unit is connected to a unicast transmission unit via an Ethernet signal, an output port of the unicast transmission unit is connected to an instruction transfer unit via an Ethernet signal, and the instruction transfer unit includes an action instruction issuing unit and a call command issuing unit.

[0026] Preferably, multiple groups of terminal access modules all include a LoRa fixed-point transmission unit, the output port of the LoRa fixed-point transmission unit is connected to the node identification and confirmation unit through a HUR signal, the output port of the node identification and confirmation unit is connected to the instruction receiving execution unit through a HUR signal, the output port of the instruction receiving execution unit is connected to the instruction receiving execution unit through a HUR signal, the input port of the LoRa fixed-point transmission unit is respectively connected to the action instruction issuing unit and the call command issuing unit through an Ethernet signal, the instruction receiving execution unit is connected to the sensor data acquisition unit through a HUR signal, and the output port of the sensor data acquisition unit is connected to the data monitoring and display unit through an Ethernet signal.

[0027] The present invention provides intelligent equipment and a dispatching system for monitoring the coordinated operation of multiple agricultural machines. It has the following beneficial effects:

[0028] 1. The present invention has high efficiency in multi-agricultural machinery scheduling: each agricultural machinery terminal can independently submit a scheduling request through a shunting application unit, and these requests are uniformly received and processed through a scheduling communication system, thereby reducing manual intervention and improving scheduling efficiency. Through the LoRa fixed-point transmission unit and the central processing module, scheduling data and instructions can be transmitted remotely and efficiently, without the need for complex communication infrastructure on the agricultural machinery terminal, reducing deployment and operation costs. The system uses a terminal access module, a central processing module, and a gateway identification module to hierarchically process data and control commands, making scheduling processing smoother and more parallel processing capable.

[0029] 2. The present invention has the effect of accurately monitoring the operating status of agricultural machinery: the system obtains the operating status of agricultural machinery in real time through the sensor data acquisition unit, including position, speed, trajectory and other data. This information is promptly transmitted to the dispatch center through the instruction receiving and executing unit to realize accurate monitoring of agricultural machinery. The trajectory monitoring unit can monitor the operating trajectory of agricultural machinery in real time, and provide visual display in combination with the monitoring screen component, so as to facilitate the operator to control the operating status of agricultural machinery in real time. The trajectory prediction unit can predict the future position of agricultural machinery, and realize early perception of potential conflicts in combination with the conflict monitoring unit, thereby ensuring the safety of the dispatching process. The route deviation warning unit and the route conflict alarm unit provide real-time warning and alarm when abnormal situations occur, ensuring timely intervention.

[0030] 3. The present invention has intelligent data transmission and management: the system performs fixed-point data transmission and protocol management through the LoRa broadcast docking unit and the LoRaWAN storage unit, which greatly enhances the stability and distance coverage of wireless data transmission. The gateway identification module converts the communication protocol between the lower-level device and the cloud server to ensure smooth transmission of data between different levels and avoid communication problems caused by protocol incompatibility. Through the cloud server, users can remotely monitor and manage the operating status of the entire system on any device that supports Ethernet. At the same time, the security and authorization of system control are guaranteed through the permission sending unit.

[0031] 4. The present invention has the safety and accuracy of the shunting process: the starting point calculation unit and the end point calculation unit can accurately calculate the starting point and the end point of the agricultural machinery according to the trajectory positioning data, ensuring the accurate planning of the shunting trajectory; the shunting trajectory confirmation unit and the shunting speed confirmation unit generate accurate trajectory routes and speed instructions according to the calculation results, ensuring the efficiency and accuracy of the agricultural machinery shunting process; the trajectory monitoring unit monitors the original trajectory to ensure that the trajectory is consistent with the planned route; the conflict monitoring unit performs conflict analysis based on the data of the trajectory prediction unit to avoid accidents caused by overlapping or crossing the operation trajectories of agricultural machinery; the route deviation warning unit and the route conflict alarm unit give real-time warning of abnormalities, minimizing the risks in the shunting process.

[0032] 5. The system of the present invention has scalability and flexibility: the central processing module is equipped with a data relay unit, which can expand the communication distance of the system through point-to-point transparent transmission, so that it can adapt to a wider range of farm environments. The modules communicate and exchange data through standardized interfaces (such as terminal access modules, gateway identification modules, central processing modules, etc.), which is convenient for system upgrades, maintenance and expansion. The system supports the management of multiple groups of terminal access modules, classifies different agricultural machinery through equipment corresponding units, and uses gateway protocol generation units to flexibly generate gateway protocols to provide support for large-scale agricultural machinery management.

[0033] 6. The present invention realizes comprehensive digitization and intelligence of agricultural machinery operation and scheduling: the shunting application unit is responsible for receiving applications. After being processed by the dispatching communication system, the generated shunting trajectory and speed instructions are finally sent to the mobile agricultural machinery end and executed, realizing closed-loop control from application to execution. The positioning and sending unit and the trajectory recording unit work together to realize the real-time positioning and historical trajectory management of agricultural machinery, and provide data support for subsequent scheduling optimization. The monitoring screen component displays the operating status, trajectory and scheduling information of the agricultural machinery in real time, so that the operator can view the real-time dynamics and scheduling process of the agricultural machinery at any time. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the structure of the monitoring device of the present invention;

[0035] Figure 2 It is a schematic diagram of the scheduling system architecture of the present invention;

[0036] Figure 3 It is a schematic diagram of the system architecture of the integrated monitoring station of the present invention;

[0037] Figure 4 This is a schematic diagram of the mobile agricultural machinery terminal system architecture of the present invention;

[0038] Figure 5 It is a schematic diagram of the system architecture of the positioning processing module of the present invention;

[0039] Figure 6 It is a schematic diagram of the conflict monitoring module system architecture of the present invention;

[0040] Figure 7 This is a schematic diagram of the application service module system architecture of the present invention;

[0041] Figure 8 A schematic diagram of the cloud server system architecture of the present invention;

[0042] Fig. 9 A schematic diagram of the system architecture of the gateway identification module of the present invention;

[0043] Fig.10 It is a schematic diagram of the central processing module system architecture of the present invention;

[0044] Fig.11 It is a schematic diagram of the terminal access module system architecture of the present invention.

[0045] Among them, 1. Comprehensive monitoring station; 2. Mobile agricultural machinery terminal; 3. Positioning processing module; 4. Conflict monitoring module; 5. Monitoring screen component; 6. Application service module; 7. Cloud server; 8. Gateway identification module; 9. Central processing module; 10. Terminal access module; 11. Shunting application receiving unit; 12. Central processing unit; 13. Vehicle matching unit; 14. Starting point calculation unit; 15. End point calculation unit; 16. Shunting track confirmation unit; 17. Shunting speed confirmation unit; 18. Instruction sending unit; 21. Shunting application unit; 22. Authority sending unit; 23. Track recording unit; 24. Positioning sending unit; 25. Instruction receiving unit; 26. Track receiving unit; 27. Route viewing unit; 28. Independent vehicle unit; 31. Positioning receiving unit; 32. Positioning processing unit; 33. Equipment corresponding unit; 34. Original track corresponding unit; 35. Original track sending unit; 41. Track monitoring unit; 42. Vehicle corresponding unit; 4 3. Trajectory prediction unit; 44. Conflict monitoring unit; 45. Route deviation warning unit; 46. Route conflict alarm unit; 61. Data monitoring and display unit; 62. Gateway protocol generation unit; 63. Control strategy generation unit; 64. Ethernet interface output unit; 71. Transmission monitoring unit; 72. Transmission processing unit; 73. Protocol data temporary storage unit; 74. Protocol sending unit; 81. Protocol data receiving unit; 82. Protocol data storage unit; 83. LoRaWAN storage unit; 84. TCP / IP storage unit; 85. Channel allocation unit; 86. Routing identification management unit; 91. Data relay unit; 92. LoRa broadcast docking unit; 93. Unicast transmission unit; 94. Command transfer unit; 95. Action command issuing unit; 96. Call test command issuing unit; 101. LoRa fixed-point transmission unit; 102. Node identification and confirmation unit; 103. Command receiving and execution unit; 104. Sensor data acquisition unit. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings of the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Please refer to the attached Figure 1 An embodiment of the present invention provides an intelligent device for monitoring the collaborative operation of multiple agricultural machines, including an integrated monitoring station 1, a dispatching system for intelligent devices for monitoring the collaborative operation of multiple agricultural machines, and a monitoring screen component 5 located on the integrated monitoring station 1 for visualizing the operating status of multiple agricultural machines. The monitoring screen component 5 is distributed at the output end of the integrated monitoring station 1.

[0048] Please refer to the attached Figure 1 -Attached Figure 2 The embodiment of the present invention provides an intelligent equipment scheduling system for monitoring the coordinated operation of multiple agricultural machinery, including an integrated monitoring station 1, a mobile agricultural machinery terminal 2 connected to the output port of the integrated monitoring station 1, a positioning processing module 3 connected to the output port of the mobile agricultural machinery terminal 2, a conflict monitoring module 4 connected to the output port of the positioning processing module 3, an application service module 6 connected to the output port of the integrated monitoring station 1, a cloud server 7 connected to the output port of the application service module 6, a gateway identification module 8 connected to the output port of the cloud server 7, a central processing module 9 connected to the output port of the gateway identification module 8, and a terminal access module 10 connected to the output port of the central processing module 9, which is responsible for performing LoRa data transparent transmission with the gateway identification module 8 of its upper layer to realize data upload or download; the third is to realize the role of a repeater through a data relay unit 91, provide transit transmission for wireless communication, and realize point-to-point transparent transmission of data between central processing modules 9 of different layers through configuration, so as to achieve the purpose of extending the communication distance of the system, and the third layer is the gateway identification module 8, which is responsible for protocol forwarding processing between the cloud server 7 or the application service module 6 and the lower layer.

[0049] Please refer to the attached Figure 1 -Attached Figure 3 , the integrated monitoring station 1, the intelligent equipment dispatching system for cooperating with multiple agricultural machinery collaborative operation monitoring is used for multiple agricultural machinery collaborative operation monitoring, the integrated monitoring station 1 includes a shunting application receiving unit 11, the shunting application receiving unit 11 is connected to the positioning processing module 3, the positioning processing module 3 is connected to the central processing unit 12, the central processing unit 12 is provided with a vehicle matching unit 13, the conflict monitoring module 4 is connected to the vehicle matching unit 13, the vehicle matching unit 13 is respectively connected to the starting point calculation unit 14 and the end point calculation unit 15, the starting point calculation unit 14 and the end point calculation unit 15 are both connected to the shunting track confirmation unit 16, the shunting track confirmation unit 16 is connected to the shunting speed confirmation unit 17, the shunting The speed confirmation unit 17 is connected to the instruction sending unit 18, the starting point calculation unit 14 calculates the starting point position of the mobile agricultural machinery terminal 2 according to the original trajectory positioning data sent by the original trajectory sending unit 35, the end point calculation unit 15 calculates the end point position of the mobile agricultural machinery terminal 2 according to the original trajectory positioning data sent by the original trajectory sending unit 35, the shunting trajectory confirmation unit 16 calculates the shunting trajectory route of the corresponding mobile agricultural machinery terminal 2 according to the calculation data of the starting point calculation unit 14 and the end point calculation unit 15, the shunting speed confirmation unit 17 simultaneously calculates the shunting speed of the corresponding mobile agricultural machinery terminal 2, and the shunting trajectory and speed instruction are finally resent to the corresponding mobile agricultural machinery terminal 2 through the instruction sending unit 18.

[0050] Please refer to the attached Figure 1 -Attached Figure 4The mobile agricultural machinery terminal 2 is located on the integrated monitoring station 1 and is used to display independent agricultural machinery. The mobile agricultural machinery terminal 2 includes a shunting application unit 21, which is connected to a permission sending unit 22, which is connected to a track recording unit 23, which is connected to a positioning sending unit 24, an instruction receiving unit 25 is connected to a track receiving unit 26, which is connected to a route viewing unit 27, which is connected to an independent vehicle unit 28, and the instruction receiving unit 25 is connected to the instruction sending unit 18 through a wireless network, and the permission sending unit 22 is connected to the shunting application receiving unit 11 through a wireless network. The independent mobile agricultural machinery terminals 2 in each area can be connected through The shunting application unit 21 applies for shunting operation and enters the remote control gateway through the dispatching communication system. After the authority is determined by the authority sending unit 22, the application instruction is sent to the shunting application receiving unit 11 through the authority sending unit 22. The track recording unit 23 counts the real-time positioning and trajectory of the mobile agricultural machinery terminal 2 itself, and sends it to the positioning receiving unit 31 belonging to the positioning processing module 3 in real time through the positioning sending unit 24. After the instruction receiving unit 25 receives the instruction from the instruction sending unit 18, the shunting application unit 21 receives the specified track route, and checks it through the route viewing unit 27, and finally implements it to the independent vehicle unit 28 to complete the dispatching work.

[0051] Please refer to the attached Figure 1 -Attached Figure 5 The positioning processing module 3 is located on the integrated monitoring station 1, and cooperates with the positioning sending unit 24 to locate the scheduled agricultural machinery. The positioning processing module 3 includes a positioning receiving unit 31, the positioning receiving unit 31 is connected to the positioning processing unit 32, the positioning processing unit 32 is connected to the device corresponding unit 33, the device corresponding unit 33 is connected to the original track corresponding unit 34, the original track corresponding unit 34 is connected to the original track sending unit 35, the positioning receiving unit 31 is connected to the positioning sending unit 24 through a wireless network, and the original track sending unit 35 is connected to the central processing unit 12. After the real-time positioning data is received by the positioning receiving unit 31, it is processed by the positioning processing unit 32. After the device corresponding unit 33 classifies different mobile agricultural machinery terminals 2, the original track corresponding unit 34 corresponds different track positioning data to different mobile agricultural machinery terminals 2 according to the data of the device corresponding unit 33, and sends the corresponding completed track positioning data to the vehicle matching unit 13 through the original track sending unit 35.

[0052] Please refer to the attached Figure 1 -Attached Figure 6The conflict monitoring module 4 is located on the integrated monitoring station 1, and cooperates with the vehicle matching unit 13 and the independent vehicle unit 28 to monitor the conflict of agricultural machinery operations. The conflict monitoring module 4 includes a trajectory monitoring unit 41, the trajectory monitoring unit 41 is electrically connected to the monitoring screen component 5, the trajectory monitoring unit 41 is connected to the vehicle corresponding unit 42, the vehicle corresponding unit 42 is connected to the trajectory prediction unit 43, the trajectory prediction unit 43 is connected to the conflict monitoring unit 44, the route deviation warning unit 45 is respectively connected to the route deviation warning unit 45 and the route conflict alarm unit 46, the route deviation warning unit 45 and the route conflict alarm unit 46 are respectively connected to the independent vehicle unit 28 through a wireless network, and the route deviation warning unit 45 is connected to the route conflict alarm unit 46. The sudden alarm unit 46 is electrically connected to the vehicle matching unit 13, and the vehicle matching unit 13 performs the shunting process. The trajectory monitoring unit 41 monitors the original trajectory of the mobile agricultural machinery terminal 2 and displays the monitoring through the monitoring screen component 5. The vehicle corresponding unit 42 allocates the corresponding monitoring vehicle according to the monitoring trajectory. The trajectory prediction unit 43 predicts the trajectory position of the mobile agricultural machinery terminal 2. The conflict monitoring unit 44 performs conflict monitoring on different mobile agricultural machinery terminals 2 according to the prediction data of the trajectory prediction unit 43. When a route deviation occurs, a warning is issued through the route deviation warning unit 45, and when a route conflict occurs, an alarm is issued through the route conflict alarm unit 46, thereby ensuring the safety of the shunting process.

[0053] Please refer to the attached Figure 1 -Attached Figure 7 The application service module 6 is located on the integrated monitoring station 1, and cooperates with the central processing unit 12 to access the gateway for remote control of multiple agricultural machinery. The application service module 6 includes a data monitoring and display unit 61. The input port of the data monitoring and display unit 61 is connected to the port of the central processing unit 12, and the output port of the data monitoring and display unit 61 is connected to the input port of the gateway protocol generation unit 62 through an Ethernet signal. The output port of the gateway protocol generation unit 62 is connected to the input port of the control strategy generation unit 63 through an Ethernet signal. The output port of the control strategy generation unit 63 is connected to the input port of the Ethernet interface output unit 64 through an Ethernet signal. The application service module 6 is the total output end of wireless communication. The Ethernet interface output unit 64 displays various communication status data in real time, and generates a gateway license agreement for multiple groups of terminal access modules 10 using the gateway protocol generation unit 62. After the generation of the agreement is completed, the control strategy is generated and issued by the control strategy generation unit 63, and output to the cloud server 7 using the Ethernet interface output unit 64.

[0054] Please refer to the attached Figure 1 -Attached Figure 8The cloud server 7 is located on the integrated monitoring station 1, and cooperates with the Ethernet interface output unit 64 to transmit the generated agricultural machinery remote gateway protocol. The cloud server 7 includes a transmission monitoring unit 71, and the input port of the protocol data temporary storage unit 73 is connected to the output port of the Ethernet interface output unit 64 through an Ethernet signal. The output port of the protocol data temporary storage unit 73 is connected to the protocol sending unit 74 through an Ethernet signal; the output port of the transmission monitoring unit 71 is connected to the protocol data temporary storage unit 73, and the output port of the transmission processing unit 72 is connected to the protocol data temporary storage unit 73. The gateway identification module 8 serves as a gateway carrier and a means of transportation to connect the cloud server 7 and the terminal access module 10. The transmission monitoring unit 71 and the transmission processing unit 72 of the cloud server 7 facilitate users to monitor and process system data on any device with an Ethernet interface, and the protocol data temporary storage unit 73 receives and temporarily stores the gateway protocol, communication permission and control strategy generated by the control strategy generation unit 63, and sends them to the gateway identification module 8 through the protocol sending unit 74.

[0055] Please refer to the attached Figure 1 -Attached Fig. 9 The gateway identification module 8 is located on the integrated monitoring station 1, and cooperates with the protocol sending unit 74 to identify the generated agricultural machinery remote gateway protocol. The gateway identification module 8 includes a protocol data receiving unit 81, a protocol data receiving unit 81, an input port of the protocol data receiving unit 81 is connected to the protocol sending unit 74 through an Ethernet signal, and an output end of the protocol data receiving unit 81 is connected to the protocol data storage unit 82 through an Ethernet signal. The protocol data storage unit 82 includes a LoRaWAN storage unit 83 and a TCP / IP storage unit 84 respectively. The output port of the LoRaWAN storage unit 83 is connected to the channel allocation unit 85 through a HUR signal, and the output port of the channel allocation unit 85 is connected to the routing identification management unit 86 through an Ethernet signal. After receiving the gateway protocol of the gateway protocol generation unit 62, the protocol data receiving unit 81 carries the protocol data on the LoRaWAN storage unit 83 and the TCP / IP storage unit 84 respectively through the protocol data storage unit 82. At the same time, the channel allocation unit 85 and the routing identification management unit 86 have both the channel allocation and routing management of the internal part of the LoRaWAN storage unit 83.

[0056] Please refer to the attached Figure 1 -Attached Fig.10The central processing module 9 is located on the integrated monitoring station 1, and cooperates with the LoRaWAN storage unit 83 for remote processing of multi-agricultural machinery remote control instructions. The central processing module 9 includes a data relay unit 91. The input port of the data relay unit 91 is connected to the LoRaWAN storage unit 83 through an Ethernet signal, and the output port of the data relay unit 91 is connected to the LoRa broadcast docking unit 92 through an Ethernet signal. The output port of the LoRa broadcast docking unit 92 is connected to the unicast transmission unit 93 through an Ethernet signal, and the output port of the unicast transmission unit 93 is connected to the instruction transfer unit 94 through an Ethernet signal. The instruction transfer unit 94 includes an action instruction issuing unit 95 and a call command issuing unit 96. The terminal access module 10 directly connects to the receiving central processing module 9, and the central processing module 9 mainly has three functions: one is to be responsible for the LoRa broadcast docking unit 92 with the terminal access module 10 under the routing management of this module, or to perform unicast transmission through the unicast transmission unit 93, and to broadcast the call command or action instruction to the terminal access module 10 through the action instruction issuing unit 95 and the call command issuing unit 96.

[0057] Please refer to the attached Figure 1 -Attached Fig.11 The terminal access module 10 is located on the integrated monitoring station 1, and cooperates with the call command issuing unit 96 for remote multi-agricultural machinery remote control instructions. The multiple groups of terminal access modules 10 all include a LoRa fixed-point transmission unit 101. The output port of the LoRa fixed-point transmission unit 101 is connected to the node identification and confirmation unit 102 through the HUR signal. The output port of the node identification and confirmation unit 102 is connected to the instruction receiving execution unit 103 through the HUR signal. The output port of the instruction receiving execution unit 103 is connected to the instruction receiving execution unit 103 through the HUR signal. The input ports of the LoRa fixed-point transmission unit 101 are respectively connected to the action instruction through Ethernet signals. The issuing unit 95 and the call command issuing unit 96, the instruction receiving and executing unit 103 are connected to the sensor data acquisition unit 104 through the HUR signal, and the output port of the sensor data acquisition unit 104 is connected to the data monitoring and display unit 61 through the Ethernet signal. The terminal access module 10 to which the scheduling communication system belongs is responsible for collecting various agricultural machinery operation status sensor data through the sensor data acquisition unit 104, and receives and executes related control actions through the instruction receiving and executing unit 103, uses the LoRa fixed-point transmission unit 101 to perform fixed-point data transmission with the central processing module 9, and identifies the node connected to the central processing module 9 through the node identification and confirmation unit 102.

[0058] Working principle: First, the individual mobile agricultural machinery terminal 2 in each farm area can apply for shunting operation through the shunting application unit 21, and enter the remote control gateway through the dispatching communication system. The terminal access module 10 to which the dispatching communication system belongs is responsible for collecting various agricultural machinery operation status sensor data through the sensor data acquisition unit 104, and receives and executes related control actions through the instruction receiving and executing unit 103. The LoRa fixed-point transmission unit 101 is used to perform fixed-point data transmission with the central processing module 9. The node identification and confirmation unit 102 identifies the node connected to the central processing module 9. The terminal access module 10 directly connects to the receiving central processing module 9, and the central processing module 9 mainly has three functions: First, through LoRa The Ra broadcast docking unit 92 is responsible for performing LoRa broadcast docking with the terminal access module 10 under the routing management of this module or performing unicast transmission through the unicast transmission unit 93, and broadcasting the call command or action command to the terminal access module 10 through the action instruction issuing unit 95 and the call command issuing unit 96; the second is responsible for performing LoRa data transparent transmission with the gateway identification module 8 on its upper layer to realize data upload or download; the third is to realize the role of repeater through the data relay unit 91, provide transit transmission for wireless communication, and realize point-to-point transparent transmission of data between the central processing modules 9 at different layers through configuration, so as to achieve the purpose of extending the communication distance of the system, and the third layer is the gateway identification module 8, which is responsible for the cloud server 7 or The protocol forwarding processing between the application service module 6 and the lower layer, after the protocol data receiving unit 81 receives the gateway protocol of the gateway protocol generating unit 62, the protocol data is respectively carried on the LoRaWAN storage unit 83 and the TCP / IP storage unit 84 through the protocol data storage unit 82, and at the same time, the channel allocation unit 85 and the route identification management unit 86 have both the channel allocation and route management of the LoRaWAN storage unit 83. The gateway identification module 8 is used as a gateway carrier and a means of transportation to connect the cloud server 7 and the terminal access module 10. The transmission monitoring unit 71 and the transmission processing unit 72 of the cloud server 7 facilitate users to monitor the system data on any device with an Ethernet interface and The protocol data temporary storage unit 73 receives and temporarily stores the gateway protocol, communication permission and control strategy generated by the control strategy generation unit 63, and sends them to the gateway identification module 8 through the protocol sending unit 74. The application service module 6 is the total output end of the wireless communication. The Ethernet interface output unit 64 displays the various communication status data in real time, and generates a gateway permission protocol for multiple groups of terminal access modules 10 using the gateway protocol generation unit 62. After the generation of the protocol is completed, the control strategy generation unit 63 generates and sends the control strategy, which is output to the cloud server 7 using the Ethernet interface output unit 64. After the authority is determined by the authority sending unit 22, the application instruction is sent to the shunting application receiving unit 11 through the authority sending unit 22.After the trajectory recording unit 23 counts the real-time positioning and trajectory of the mobile agricultural machinery terminal 2 itself, it sends it to the positioning receiving unit 31 belonging to the positioning processing module 3 in real time through the positioning sending unit 24. After the positioning receiving unit 31 receives the real-time positioning data, it is processed by the positioning processing unit 32. After the device corresponding unit 33 classifies different mobile agricultural machinery terminals 2, the original trajectory corresponding unit 34 corresponds different trajectory positioning data to different mobile agricultural machinery terminals 2 according to the data of the device corresponding unit 33, and sends the corresponding completed trajectory positioning data to the vehicle matching unit 13 through the original trajectory sending unit 35. The vehicle matching unit 13 performs the shunting process. The trajectory monitoring unit 41 monitors the original trajectory of the mobile agricultural machinery terminal 2 and monitors and displays it through the monitoring screen component 5. The vehicle corresponding unit 42 allocates the corresponding monitoring vehicle according to the monitoring trajectory. The trajectory prediction unit 43 predicts the trajectory position of the mobile agricultural machinery terminal 2. The conflict monitoring unit 44 monitors the conflicts of different mobile agricultural machinery terminals 2 according to the prediction data of the trajectory prediction unit 43. In case of line deviation, the route deviation warning unit 45 will issue a warning, and in case of route conflict, the route conflict alarm unit 46 will issue an alarm, thereby ensuring the safety of the shunting process. The starting point calculation unit 14 calculates the starting position of the mobile agricultural machinery terminal 2 according to the original track positioning data sent by the original track sending unit 35, and the end point calculation unit 15 calculates the end point of the mobile agricultural machinery terminal 2 according to the original track positioning data sent by the original track sending unit 35. The shunting track confirmation unit 16 calculates the shunting track route corresponding to the mobile agricultural machinery terminal 2 according to the calculation data of the starting point calculation unit 14 and the end point calculation unit 15. The shunting speed confirmation unit 17 simultaneously calculates the shunting speed of the corresponding mobile agricultural machinery terminal 2. The shunting track and speed instruction are finally resent to the corresponding mobile agricultural machinery terminal 2 through the instruction sending unit 18. After the instruction receiving unit 25 receives the instruction of the instruction sending unit 18, the shunting application unit 21 receives the specified track route and checks it through the route viewing unit 27, and finally implements it to the independent vehicle unit 28 to complete the dispatching work.

[0059] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Intelligent equipment for monitoring the coordinated operation of multiple agricultural machines, characterized by: include: An integrated monitoring station (1) is used for monitoring the coordinated operation of multiple agricultural machines in cooperation with an intelligent equipment dispatching system for monitoring the coordinated operation of multiple agricultural machines; The mobile agricultural machinery terminal (2) is located on the integrated monitoring station (1) and is used to display independent agricultural machinery; The positioning processing module (3) is located on the integrated monitoring station (1) and cooperates with the positioning sending unit (24) to locate the scheduled agricultural machinery; The conflict monitoring module (4) is located on the integrated monitoring station (1) and cooperates with the vehicle matching unit (13) and the independent vehicle unit (28) to monitor the conflict situation of agricultural machinery operations; The monitoring screen assembly (5) is located on the integrated monitoring platform (1) and is used to visualize the operating status of multiple agricultural machines; The application service module (6) is located on the integrated monitoring station (1) and cooperates with the central processing unit (12) to access the gateway for remote control of multiple agricultural machines; The cloud server (7) is located on the integrated monitoring station (1) and cooperates with the Ethernet interface output unit (64) to transmit the generated agricultural machinery remote gateway protocol; The gateway identification module (8) is located on the integrated monitoring station (1) and cooperates with the protocol sending unit (74) to identify the generated agricultural machinery remote gateway protocol; The central processing module (9) is located on the integrated monitoring station (1) and cooperates with the LoRaWAN storage unit (83) to remotely process multiple agricultural machinery remote control instructions; The terminal access module (10) is located on the integrated monitoring station (1) and cooperates with the call command issuing unit (96) to issue remote control instructions for multiple agricultural machines.

2. The intelligent device for monitoring the coordinated operation of multiple agricultural machines according to claim 1 is characterized in that: The monitoring screen components (5) are distributed and arranged at the output end of the integrated monitoring station (1).

3. The intelligent equipment dispatching system for multi-agricultural machinery collaborative operation monitoring according to claim 1 is characterized in that: The mobile agricultural machinery terminal (2) is connected to the output port of the integrated monitoring station (1), the positioning processing module (3) is connected to the output port of the mobile agricultural machinery terminal (2), the conflict monitoring module (4) is connected to the output port of the positioning processing module (3), the application service module (6) is connected to the output port of the integrated monitoring station (1), the cloud server (7) is connected to the output port of the application service module (6), the gateway identification module (8) is connected to the output port of the cloud server (7), the central processing module (9) is connected to the output port of the gateway identification module (8), and the terminal access module (10) is connected to the output port of the central processing module (9).

4. The intelligent equipment dispatching system for multi-agricultural machinery collaborative operation monitoring according to claim 1 is characterized in that: The integrated monitoring station (1) comprises a shunting application receiving unit (11), the shunting application receiving unit (11) is connected to a positioning processing module (3), the positioning processing module (3) is connected to a central processing unit (12), the central processing unit (12) is provided with a vehicle matching unit (13), the conflict monitoring module (4) is connected to the vehicle matching unit (13), the vehicle matching unit (13) is respectively connected to a starting point calculation unit (14) and an end point calculation unit (15), the starting point calculation unit (14) and the end point calculation unit (15) are both connected to a shunting track confirmation unit (16), the shunting track confirmation unit (16) is connected to a shunting speed confirmation unit (17), and the shunting speed confirmation unit (17) is connected to an instruction sending unit (18).

5. The intelligent equipment dispatching system for monitoring multi-agricultural machinery collaborative operations according to claim 1 is characterized in that: The mobile agricultural machinery terminal (2) comprises a shunting application unit (21), the shunting application unit (21) is connected to an authority sending unit (22), the authority sending unit (22) is connected to a track recording unit (23), the track recording unit (23) is connected to a positioning sending unit (24), the instruction receiving unit (25) is connected to a track receiving unit (26), the track receiving unit (26) is connected to a route viewing unit (27), the route viewing unit (27) is connected to an independent vehicle unit (28), the instruction receiving unit (25) is connected to an instruction sending unit (18) via a wireless network, and the authority sending unit (22) is connected to a shunting application receiving unit (11) via a wireless network.

6. The intelligent equipment dispatching system for monitoring multi-agricultural machinery collaborative operations according to claim 1 is characterized in that: The positioning processing module (3) comprises a positioning receiving unit (31), the positioning receiving unit (31) is connected to a positioning processing unit (32), the positioning processing unit (32) is connected to a device corresponding unit (33), the device corresponding unit (33) is connected to an original track corresponding unit (34), the original track corresponding unit (34) is connected to an original track sending unit (35), the positioning receiving unit (31) is connected to a positioning sending unit (24) via a wireless network, and the original track sending unit (35) is connected to a central processing unit (12).

7. The intelligent equipment dispatching system for monitoring multi-agricultural machinery collaborative operations according to claim 1 is characterized in that: The conflict monitoring module (4) comprises a trajectory monitoring unit (41), the trajectory monitoring unit (41) is electrically connected to a monitoring screen assembly (5), the trajectory monitoring unit (41) is connected to a vehicle corresponding unit (42), the vehicle corresponding unit (42) is connected to a trajectory prediction unit (43), the trajectory prediction unit (43) is connected to a conflict monitoring unit (44), the route deviation warning unit (45) is respectively connected to the route deviation warning unit (45) and the route conflict alarm unit (46), the route deviation warning unit (45) and the route conflict alarm unit (46) are respectively connected to an independent vehicle unit (28) via a wireless network, and the route deviation warning unit (45) and the route conflict alarm unit (46) are respectively electrically connected to a vehicle matching unit (13).

8. The intelligent equipment dispatching system for monitoring the coordinated operation of multiple agricultural machines according to claim 1 is characterized in that: The application service module (6) comprises a data monitoring and display unit (61), the input port of the data monitoring and display unit (61) is connected to the port of the central processing unit (12), the output port of the data monitoring and display unit (61) is connected to the input port of the gateway protocol generation unit (62) via an Ethernet signal, the output port of the gateway protocol generation unit (62) is connected to the input port of the control strategy generation unit (63) via an Ethernet signal, and the output port of the control strategy generation unit (63) is connected to the input port of the Ethernet interface output unit (64) via an Ethernet signal; The cloud server (7) comprises a transmission monitoring unit (71), an input port of the protocol data temporary storage unit (73) is connected to an output port of an Ethernet interface output unit (64) via an Ethernet signal, and an output port of the protocol data temporary storage unit (73) is connected to a protocol sending unit (74) via an Ethernet signal; the output port of the transmission monitoring unit (71) is connected to the protocol data temporary storage unit (73), and the output port of the transmission processing unit (72) is connected to the protocol data temporary storage unit (73).

9. The intelligent equipment dispatching system for monitoring the coordinated operation of multiple agricultural machines according to claim 1 is characterized in that: The gateway identification module (8) comprises a protocol data receiving unit (81), wherein an input port of the protocol data receiving unit (81) is connected to a protocol sending unit (74) via an Ethernet signal, an output end of the protocol data receiving unit (81) is connected to a protocol data storage unit (82) via an Ethernet signal, the protocol data storage unit (82) comprises a LoRaWAN storage unit (83) and a TCP / IP storage unit (84), respectively, an output port of the LoRaWAN storage unit (83) is connected to a channel allocation unit (85) via a HUR signal, and an output port of the channel allocation unit (85) is connected to a routing identification management unit (86) via an Ethernet signal; The central processing module (9) comprises a data relay unit (91), an input port of the data relay unit (91) is connected to a LoRaWAN storage unit (83) via an Ethernet signal, an output port of the data relay unit (91) is connected to a LoRa broadcast docking unit (92) via an Ethernet signal, an output port of the LoRa broadcast docking unit (92) is connected to a unicast transmission unit (93) via an Ethernet signal, an output port of the unicast transmission unit (93) is connected to an instruction transfer unit (94) via an Ethernet signal, and the instruction transfer unit (94) comprises an action instruction issuing unit (95) and a call command issuing unit (96).

10. The intelligent equipment dispatching system for monitoring multi-agricultural machinery collaborative operations according to claim 1, characterized in that: The plurality of groups of terminal access modules (10) all comprise a LoRa fixed-point transmission unit (101); an output port of the LoRa fixed-point transmission unit (101) is connected to a node identification and confirmation unit (102) via a HUR signal; an output port of the node identification and confirmation unit (102) is connected to an instruction receiving and executing unit (103) via a HUR signal; an output port of the instruction receiving and executing unit (103) is connected to the instruction receiving and executing unit (103) via a HUR signal; an input port of the LoRa fixed-point transmission unit (101) is respectively connected to an action instruction issuing unit (95) and a call and test command issuing unit (96) via an Ethernet signal; the instruction receiving and executing unit (103) is connected to a sensor data acquisition unit (104) via a HUR signal; and an output port of the sensor data acquisition unit (104) is connected to a data monitoring and display unit (61) via an Ethernet signal.

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